/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// TODO(wjwwood): revist style of this file.

#ifndef RVIZ_COMMON__PROPERTIES__QUATERNION_PROPERTY_HPP_
#define RVIZ_COMMON__PROPERTIES__QUATERNION_PROPERTY_HPP_

#include <OgreQuaternion.h>

#include "rviz_common/properties/property.hpp"
#include "rviz_common/visibility_control.hpp"

namespace rviz_common
{
namespace properties
{

class RVIZ_COMMON_PUBLIC QuaternionProperty : public Property
{
  Q_OBJECT

public:
  QuaternionProperty(
    const QString & name = QString(),
    const Ogre::Quaternion & default_value = Ogre::Quaternion::IDENTITY,
    const QString & description = QString(),
    Property * parent = 0,
    const char * changed_slot = 0,
    QObject * receiver = 0);

  virtual bool setQuaternion(const Ogre::Quaternion & quaternion);
  virtual Ogre::Quaternion getQuaternion() const {return quaternion_;}

  virtual bool setValue(const QVariant & new_value);

  /** @brief Load the value of this property and/or its children from
   * the given Config node. */
  virtual void load(const Config & config);

  virtual void save(Config config) const;

  /** @brief Overridden from Property to propagate read-only-ness to children. */
  virtual void setReadOnly(bool read_only);

private Q_SLOTS:
  void updateFromChildren();
  void emitAboutToChange();

private:
  void updateString();

  Ogre::Quaternion quaternion_;
  Property * x_;
  Property * y_;
  Property * z_;
  Property * w_;
  bool ignore_child_updates_;
};

}  // namespace properties
}  // namespace rviz_common

#endif  // RVIZ_COMMON__PROPERTIES__QUATERNION_PROPERTY_HPP_
